Dds yaw control plane #26143
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Dds yaw control plane #26143
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tridge
requested changes
Feb 6, 2024
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| /* | ||
| Sets only the target yaw rate | ||
| Yaw is in earth frame, NED [rad/s] |
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i'd like a comment on what the intention is with coordinated turns. I would expected we would implement it with roll and coordinated
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"A configured yaw rate of 2* pi / 30 will result in a complete circle in 30 seconds."
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This was referenced Dec 24, 2024
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* Used when the whole vector being NaN is significant
* Used in DDS External Control
* And add const to external control * This method bypasses the loiter controller
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IamPete1
reviewed
Jan 6, 2025
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| const auto direction_is_ccw = yaw_rate < 0; | ||
| if (!is_zero(yaw_rate)) { | ||
| auto const speed = plane.ahrs.groundspeed(); |
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Using ground speed here might result in funny shape circles in wind, but maybe that is OK.
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In-fact, set_radius_and_direction does not change the center of the loiter point, so it might do quite odd things.
magicrub
reviewed
Jan 6, 2025
| @@ -366,6 +366,12 @@ bool Vector3<T>::is_nan(void) const | |||
| return isnan(x) || isnan(y) || isnan(z); | |||
| } | |||
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| template <typename T> | |||
| bool Vector3<T>::is_all_nan(void) const | |||
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I feel like this begs to have a ::is_any_nan() too
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Purpose
Add lower level controls ability for turn rate on Plane when using DDS that isn't tied to a waypoint loiter (ideally).
Usage
ros2 topic pub /ap/cmd_vel geometry_msgs/msg/TwistStamped "{header: {frame_id: base_link}, twist: {linear: {x: .nan, y: .nan, z: .nan}, angular: {z: -0.01}}}" --onceProblem
Seems like the navigation mode is overriding the lower level commands. I need to find a way to bypass it. Tips are appreciated.
Edit: It was suggested to make a patch to mode_guided if the yaw is set, then L1 needs to be bypassed. This wasn't necessary, it was an unrelated scaling issue.
Related
https://github.com/mavlink/mavlink/pull/2020/files#diff-9ef151b30f09d6d4f130434d941db479c3411ec15eca23580c5587b2c3b59ecdR5609
Mavlink body yaw rate
https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET